Dev Call Aug 1, 2022

CraigElder · August 1, 2022, 11:14pm

Issues & Pull Requests

Hazard: Z offset due to gravimetric model EGM96 and solution to this altitude shift

opened 09:11PM - 01 Aug 22 UTC

DevCallTopic

**A potential hazard in terrain follow and a pain for photogrammetry** Ublox …GNSS used in the majority of the ardupilot builds offer the altitude on WGS84 elipsoid preponderated with the gravimetric model **EGM96** of heights (called geoid) , but SRTM/ Google maps use only **WGS84 elipsoid** heights without gravimetric model overlayed. There is a significant difference between the two altitudes on the same point of the earth betwen 0 and 100m (because gravity is not uniform, Earth is not omogen inside and the echipotential envelope-mean see level- does not mimic the elipsoid). This considerable shift is a problemwhen: - you are geotagging pictures using ardupilot's .bin log and you notice bad Z all over GCP's ; - you are flying long distances and the gravimetric model changes so the translation of altitude from the initialisation is no longer accurate. - on further development of the code for next Mars mission :P Some areas of the planet have more than 20 m gravimetric correction so it exceeds the maximum default Z correction when arming being a potential hazard for terrain follow. Solution: When initializing GPS, set the defaut DATUM/geoid to wgs84, not the mean sea level (EGM96 geoid)

github.com/ArduPilot/ardupilot

Support VTOL_LAND options

ArduPilot:master ← WickedShell:wickedshell/vtol-land-options

opened 08:22PM - 21 Jul 20 UTC

WickedShell

+28 -10

This allows the GCS to make a `NAV_VTOL_LAND` either do the circle to land or a …normal straight in land. It should have always been done this way instead of as a `Q_OPTIONS` bit, but I took the fast path originally. This also allows us to specify a straight in approach with automatic detransition which we currently aren't supporting. The reason to not use a Q_OPTIONS bit is the same mission may want to use both a spiral landing and a specified approach heading.

github.com/ArduPilot/ardupilot

Add RockBlock SBD satellite modem support

ArduPilot:master ← stephendade:satcom

opened 03:57AM - 29 Jun 22 UTC

stephendade

+705 -1

This PR adds support for sending & receiving very basic MAVLink telemetry via a …RockBlock SBD satellite modem. It will allow for literal worldwide telemetry coverage for any vehicle fitted with the aforementioned modem. The modem bandwidth is very low (~50 bytes per 20sec or so), so I've deliberately limited what can be sent and when (1 HIGH_LATENCY2 packet every 20 sec). I did have to trim the message down (remove MAVLink header and compatibility flag, with are restored at the gateway) a little to keep within 50 bytes. Requires https://github.com/stephendade/rockblock2mav at the GCS end to send and receive packets. This PR is WIP, as it requires a bit more testing.

github.com/ArduPilot/ardupilot

Add AUX switch to pause logging of streaming log messages

ArduPilot:master ← Hwurzburg:logswitch

opened 12:22AM - 24 Jul 22 UTC

Hwurzburg

+40 -15

This allows autopilots with small block flashes (most are only 16MB..some 8MB) t…o pause logging (even before any stream messages are logged) to allow a user to just capture a 4 to 10 minute log during the flight for notch filter analysis, autotune analysis, cruise setup analysis, etc. Tested in SITL for cases where switch is active before logging starts, in the middle of flight, never active, etc. I think that this is the only possible way to get useful logs from these flight controllers....and we have many with block only logging thanks to @IamPete1 for help getting the bool into the ratelimiter namespace dont have the foggiest why its smaller than master for Copter!

github.com/ArduPilot/ardupilot

NavEKF3: Option to disable logging of EKF log messages

ArduPilot:master ← Hwurzburg:ekflogenable

opened 01:21PM - 25 Jul 22 UTC

Hwurzburg

+31 -3

allows dramatic log size reduction for logging space limited boards to allow att…itude/TECS/PID tuning information,etc. to be logged , in conjunction with #21269 (and IMU bitmask disable) really enables logging usefulness on 8/16MB block flash boards... of course problem/crash diagnostics are not possible, but they were not before for these boards due to small logging times... does not impact any existing setup or system but allows the option to be setup for small block flash logging

github.com/ArduPilot/ardupilot

Guided Mode support MAV_CMD_DO_CHANGE_SPEED

ArduPilot:master ← lthall:20220727_DoChangeSpeed

opened 05:29AM - 27 Jul 22 UTC

lthall

+67 -4

This PR adds support to Guided Mode for MAV_CMD_DO_CHANGE_SPEED. Previously th…is called WPNav directly and the WPNav libary would change the limits in the position controller. These changes would therefore impact Alt_Hold, Loiter ect by setting these defaults to WP_Nav parameters rather than Loiter or Pilot parameters. With this change the command only takes effect in Auto or Guided.

github.com/ArduPilot/ardupilot

Plane: Quadplane: add option to refuse change to FW mode at low altitude

ArduPilot:master ← IamPete1:quadplane_fw_mode_alt_lim

opened 12:57PM - 27 Jul 22 UTC

IamPete1

+114 -58

This adds a `Q_OPTION` that will refuse changing into a forward flight mode if l…ower altitude than the larger of fence minimum altitude and `ALT_HOLD_FBWCM`. The idea is to prevent transitioning where there is not enough room. Guided and Auto modes are special cases because its too hard to tell if its going to be VTOL or FW, this is the same as what we did for the only arm in VTOL modes option. This currently refuses any mode change. Possibly it should only refuse mode change from RC or GCS. There are some odd cases where we should enter the new mode. One example is the `Q_RTL_MODE` "QRTL Always", currently we would enter RTL and then instantly QRTL. With this change we would refuse entering RTL and so not end up in QRTL. Example with fence min alt set to 40m and a 2m margin: ![image](https://user-images.githubusercontent.com/33176108/181251126-67e5ec4e-a78c-44cd-ad5d-7863aab9f74f.png) Also added a `Q_OPTIONS` helper.

github.com/ArduPilot/ardupilot

AP_LandingGear: SITL: only set defualts is SITL pin is set avoiding enable via param conversion

ArduPilot:master ← IamPete1:SITL_landing_gear_defualts

opened 06:48PM - 27 Jul 22 UTC

IamPete1

+20 -16

Another little fixup from https://github.com/ArduPilot/ardupilot/pull/21245. The… wow pin was defaulting to a value in SITL, so we were hitting the param conversion here: https://github.com/ArduPilot/ardupilot/blob/b7a3038996873c712cd93633de2060a20b974d44/libraries/AP_LandingGear/AP_LandingGear.cpp#L94-L98 That resulted in landing gear always being enabled. This changes to only setup the defaults if the SITL wow pin parameter is set. Due to that I also had to enable gear in the autotest.

github.com/ArduPilot/ardupilot

autotest: Create a features.json (like manifest.json) from extract_features.py output

ArduPilot:master ← peterbarker:pr/build-binaries-collect-features

opened 02:43AM - 30 Jul 22 UTC

peterbarker

+115 -42

There are two logical changes in here. The first changes build_binaries.py to c…reate features.txt in every build directory - next to git_version.txt and the binaries themselves: ``` ├── binaries │ ├── AntennaTracker │ │ └── dirty │ │ ├── CubeOrange │ │ │ ├── antennatracker.apj │ │ │ ├── features.txt │ │ │ ├── firmware-version.txt │ │ │ └── git-version.txt │ │ └── MatekF405-Wing │ │ ├── antennatracker.apj │ │ ├── features.txt │ │ ├── firmware-version.txt │ │ └── git-version.txt ``` Format is simple enough: ``` pbarker@recursion:~/rc/ardupilot((HEAD detached at github/pr/build-binaries-collect-features))$ cat /mnt/storage/buildlogs/binaries/AntennaTracker/dirty/CubeOrange/features.txt AIRSPEED AP_EFI pbarker@recursion:~/rc/ardupilot((HEAD detached at github/pr/build-binaries-collect-features))$ ``` The second logical change is to `generate_manifest.py`. It now generates two json objects - one of the versions manifest and one for the features manifest. build_binaries.py puts the features manifest into `features.json` next to `manifest.json`.

github.com/ArduPilot/ardupilot

EKF messages have out-of-order timestamps

opened 05:08AM - 30 Jul 22 UTC

peterbarker

DevCallTopic

## Bug report **Issue details** Our onboard logs are getting messages out-…of-order when their `TimeUS` fields are compared. This comes down to using `AP_DAL::micros64` when creating the log messages rather than `AP_HAL::micros64()`, which is what every other message uses. Because the DAL takes a timestamp at the top the frame but the logging can happen at some future time - `Log_Write` is called from AP_AHRS at the moment. If we make the call to `Log_Write` to within the EKF itself then we can probably fix this. Coincidentally @Hwurzburg is looking at giving us EKF log levels which may make it easier to move the call into the EKF. **Version** master **Platform** [ X ] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine **Airframe type** n/a **Hardware type** all **Logs** n/a

github.com/ArduPilot/ardupilot

Tools: added build features list to extract_features.py

ArduPilot:master ← Hwurzburg:featureslist

opened 01:33PM - 31 Jul 22 UTC

Hwurzburg

+157 -5

here is the first part of updating extract_features.py I also have the list in …text form for feature name, so it will be easy to diff on each board to get the shorter list of EXCLUDED features once the features list is extracted, to present to users... also corrected the existing feature names in this file I changed the labels to include the class, since the subclasses which were being used are not unique...this fixes that... ~~a few strange things during testing....I used a master build for the CubeOrange....it could not find either the NMEA nor UAVCAN airspeed sensor....the UAVCAN sensor is present in the elf and matches the string, but is not reported....and the NMEA airspeed sensor is not in the elf dump, but should be as far as I can tell tracing the ifdefs....I tried looking for the "draw_sidebars" symbol also, and it was missing but should be in the build since its only excluded on HAL_MINIMIZE features if OSD is enabled (which it is ...other symbols are there in the elf)....we need to figure this out before working further...~~ tip to future contributors...should use: arm-none-eabi-nm -td -S -C build/<autopilot>/bin/<vehicle> | grep -i ' T ' | grep <ymbol to search for> | less to look for either the constructor or method for the symbols to use in this script maybe we could enlist a few people to take parts of the list to find the symbol name...I can take some more groups once we get a couple of volunteers...

github.com/ArduPilot/ardupilot

Tools: FilterTool: add support for PIDs and other updates.

ArduPilot:master ← IamPete1:filter_tool_pid

opened 05:17PM - 31 Jul 22 UTC

IamPete1

+659 -150

Lots more updates: Interface reworked slightly: ![image](https://user-images….githubusercontent.com/33176108/182037478-6825cf92-2480-429d-8ccf-421879deada4.png) Params and options hidden if not used, eg: ![image](https://user-images.githubusercontent.com/33176108/182037506-00a3fef6-b310-4db0-8c81-767910cee0e2.png) ![image](https://user-images.githubusercontent.com/33176108/182037517-ea50fb2b-e300-434b-9051-f6a12ac6ce68.png) Support for log scale on X axis: ![image](https://user-images.githubusercontent.com/33176108/182037547-11f4ea9e-5649-4c3e-a585-e3eb7c4138dc.png) X axis in RPM instead of Hz. ![image](https://user-images.githubusercontent.com/33176108/182037582-92c808bf-7395-4d84-ae6c-c69a810fba8e.png) Warning about Nyquist limit if display frequency is set more than half sample rate. ![image](https://user-images.githubusercontent.com/33176108/182037605-91ec3647-3ec8-4194-8f3f-ddd2e34980fe.png) Improved calculation of gain and phase overcomes previous 1/4 sample rate limitation. New method also allows 10 times reduction in samples for calculation speedup. Current on left new on right ![image](https://user-images.githubusercontent.com/33176108/182037728-ccb895ff-74bd-4795-8646-f760201bffc0.png) PID evaluation with and without gyro filters: ![image](https://user-images.githubusercontent.com/33176108/182037840-9fd8e1dc-4a98-4f9b-a610-903a7f4b243e.png) ![image](https://user-images.githubusercontent.com/33176108/182037894-9a48cc7c-234a-4da7-a756-dd8ed85bf2b2.png) New param values load from logs, both quadplane and copter, and work with cookies as before.

github.com/ArduPilot/ardupilot

autotest: Cache terrain data within autotest directory

ArduPilot:master ← peterbarker:pr/autotest-does-own-terrain

opened 07:01AM - 01 Aug 22 UTC

peterbarker

+85 -31

If our terrain servers aren't reachable from the CI machines then we can end up …with tests failing randomly. This stops us starting MAVProxy so it can respond to terrain requests, and starts answering them ourselves. Requires this patch to MAVProxy so we can point the ElevationModel class at the right cache directory: https://github.com/ArduPilot/MAVProxy/pull/1088

Plane

github.com/ArduPilot/ardupilot

Plane: stable 4.2.x issues list

opened 03:33AM - 01 Dec 20 UTC

tridge

Plane VTOL-Plane DevCallTopic ReleaseAdmin

This is an issue to gather key issues for the plane 4.2 release - [x] arming c…heck for RTL_AUTOLAND != 0 when there is a DLS in the mission #20345 - [x] avoidance bug https://github.com/ArduPilot/ardupilot/pull/15063 - [ ] cope with over 65V batteries - [x] check dual airspeed autocal - [ ] stricter checks on takeoff command and RTL arming in quadplanes - [ ] auto-lower pos controller gains when have attitude error? - [x] iomcu rssi pin 103 not working: https://discuss.ardupilot.org/t/plane-4-2-stable-release/84979/12?u=tridge - [ ] add package drop support - [ ] always allow at least 10 deg roll limit for fixed wing - [ ] check PWM 1000/2000 conversion, use check_mot_pwm_params - [ ] add arming check for VTOL I gain <= P gain on roll/pitch - [ ] motors spin sometimes on soft reboot of HWing - [ ] implement CAN EFI node - [ ] added ESC_TELEM offset parameter - [ ] test ublox fw update with passthru - [ ] add MODE=RPM2 into harmonic notch - [ ] sys_status battery status on battery failsafe error? - [ ] before triggering Q_ASSIST_SPEED, check EKF fusion of airspeed, if not fusing, delay assist speed - [ ] add fw update from microSD to bootloader - [x] rename INS_NOTCH to INS_HNTC2 - [ ] add mission and fence extraction to MAVExplorer - [ ] add tailsitter tune param for P, I, D sequence - [x] fix PWM output with SERVOn_FUNCTION=0 and DO_SET_SERVO - [x] test INS_NOTCH conversion test from 4.1 - [ ] copy crash_dump.bin to microsd on each boot is non-zero size - [ ] Ryans baro correction https://github.com/ArduPilot/ardupilot/pull/19904 - [x] allow for selective airspeed sensor enable in hwdef.dat (needed for hitec airspeed) - [ ] possible QRTL bug with terrain alt (see log from alex) - [ ] motor reversal with DShot 3D: https://discuss.ardupilot.org/t/plane-4-2-beta-release/82502/73?u=tridge - [x] auto-config not working with F9P firmware 1.30, and MON_VER not working https://github.com/ArduPilot/ardupilot/issues/20473 - [x] log list with a sdcard with lots of files causes long pause and EKF errors - [ ] option for median filter between synthetic airspeed and dual-airspeed - [x] @SYS files not logged when LOG_DISARMED=0 - [x] sum battery not updating percent remaining fix: #20357 - [x] rudder disarm should not cause yaw in Q modes fix: #20363 - [ ] re-load mission on arming in AUTO? See https://discuss.ardupilot.org/t/striver-mini-vtol-4-1-quadplane/71805/185?u=tridge - [x] changing home using GCS while in CRUISE mode changes height - [x] re-triggering of fence when RTL_AUTOLAND=2 fix: #20360 - [ ] rapid switching between EKF and DCM on baro error: https://discuss.ardupilot.org/t/excessive-ekf3-dcm-switching-in-plane-4-1-6/82966/5 - [ ] look at methods of handling flash parity errors on H7, possibly using HW CRC - [x] need fence status on MissionPlanner https://discuss.ardupilot.org/t/no-message-for-geofence-breach/82720/3 - [ ] obey primary sensors with EK3_AFFINITY - [x] rangefinder offset applied twice (#17424) - [x] ~interrupt storm with misconfigured camera (#17465)~ (not a blocker as it was caught and a misconfiguration) - [x] add API for lock-step detection to suppress panic in pos controller init check - [ ] motors spinning when they shouldn't? https://github.com/ArduPilot/ardupilot/issues/16630 - [ ] force arm bypass of logging start and fence auto-enable - [ ] need force_descend change for quadplane: #17824 - [ ] surface control while booting not working: #17966 Pending quadplane features from Kris: - [x] When the safety switch is disabled, the Tilt servos may oscillate considerably once when connected to the battery. This causes the propeller to strike the wing and damage it. Possible solution: Move BoardConfig.init_safety() in system.cpp to run BoardConfig.init_safety() 2 seconds after init has finished. Update: fixed in #15942 - [ ] In some cases, failsafe will change the flight mode before entering failsafe, which results in the AUTO mode not continuing. Need example log Features for later 4.2.x releases: - [ ] sort out CAN baro ordering for plane, maybe option bit in BARO_OPTIONS, on plane default to can baro last - [ ] support rangefinder correction of AP_Terrain data, with configurable time constant

Copter

github.com/ArduPilot/ardupilot

Copter/Rover: 4.2.0 issues list

opened 05:16AM - 28 Feb 22 UTC

rmackay9

Copter Rover DevCallTopic ReleaseAdmin

This is a list of issues discovered during Copter and Rover 4.2.0 beta testing. … For reference [Copter-4.1 issues ](https://github.com/ArduPilot/ardupilot/issues/16478), [Rover-4.1 issues](https://github.com/ArduPilot/ardupilot/issues/17116). **Reports requiring Investigation** - [ ] SoloGimbal broken (also broken in 4.1.x) ([issue](https://github.com/ArduPilot/ardupilot/issues/20923)) - [ ] Missions may complete while the vehicle is disarmed ([issue](https://github.com/ArduPilot/ardupilot/issues/20655)) - [ ] UAvionix Ping disrupts param download ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-rc2-released-for-beta-testing/84818/3)) - [ ] modalAI Voxl setup problems ([issue](https://github.com/ArduPilot/ardupilot/issues/20481), [discussion](https://discuss.ardupilot.org/t/voxl-position-reference/87230)) **Copter** - [ ] circle mode can't keep vehicle pointed at center if CIRCLE_RATE > ATC_SLEW_YAW ([issue](https://github.com/ArduPilot/ardupilot/issues/21098)) - [ ] do-change-speed doesn't work if immediately after a TAKEOFF command ([discussion](https://discuss.ardupilot.org/t/copter-4-2-x-cant-accept-do-change-speed-in-auto-mission/87509), [issue](https://github.com/ArduPilot/ardupilot/issues/21080)) - [ ] DShot BlueJay not working ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-rc4-available-for-beta-testing/85556/3)) -- fixed in 4.2.1-rc1? - [ ] DShot LEDs not working ([issue](https://github.com/ArduPilot/ardupilot/issues/20816)) -- fixed in 4.2.1-rc1? - [ ] AndyP's ongoing alt-hold issues ([PR](https://github.com/ArduPilot/ardupilot/pull/20781)) -- agreed not blocker for 4.2.0 release - [ ] neopixel shows incorrect colours on some boards ([discussion](https://github.com/ArduPilot/ardupilot/issues/20768), [PR](https://github.com/ArduPilot/ardupilot/pull/20432)) - [ ] Copter set-attitude-target doesn't accept roll,pitch angles and yaw rate ([issue](https://github.com/ArduPilot/ardupilot/issues/20444)) **Rover Specific** - none **Enhancement Requests (may or may not be done)** - [ ] request to update mavlink repo ([issue](https://github.com/ArduPilot/ardupilot/issues/20849), [PR](https://github.com/ArduPilot/ardupilot/pull/20927)) - [ ] CubeBlack not-enough-memory with CAN enabled ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/19)) -- many small changes increased memory usage. Not easy to fix. - [ ] OSD Group2 Params LINK_Q Items appear even for disabled OSD screens ([issue](https://github.com/ArduPilot/ardupilot/issues/18418), [PR](https://github.com/ArduPilot/ardupilot/pull/18533)) -- a display issue and quite difficult to fix - [ ] [Custom Build server](https://custom.ardupilot.org/) should support building beta and stable ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta1-available-for-beta-testing/82462/7)) - [ ] Log fence locations ([discussion](https://discuss.ardupilot.org/t/no-polygone-fences-in-the-dataflash-logs/82566), [issue](https://github.com/ArduPilot/ardupilot/issues/20213)) - [ ] SBP (aka Swift) GPS driver should accept yaw ([discussion](https://discuss.ardupilot.org/t/how-to-force-gps-yaw-to-rovers-yaw/82553/2)) **Wiki improvement Requests** - [ ] Improve optical flow wiki ([discussion](https://discuss.ardupilot.org/t/how-to-test-benefits-of-optical-flow-improvements/82488)) - [ ] document DO_LAND_START / AutoRTL ([discussion](https://discuss.ardupilot.org/t/suggestion-being-able-to-define-an-rtl-approach-path-i-e-approach-rtl/85470), [MP PR](https://github.com/ArduPilot/MissionPlanner/issues/2858)) **Resolved Items** - [x] BlueRobotics ping sensor not working above 4.0.0 ([discussion](https://discuss.ardupilot.org/t/blue-robotics-ping-sensor-not-working-on-anything-above-ardurover-4-0-0/88007)) -- sensor firmware needs to be upgraded, wiki has been updated to add instructions on how to do this. - [x] climb during precision landing ([discussion](https://discuss.ardupilot.org/t/quad-rises-to-40m-before-landing/86311), [PR](https://github.com/ArduPilot/ardupilot/pull/20982)) -- not included in 4.2 because it is an existing issue. I think we will wait for 4.3 for the fix to go out. - [x] LidarLight broken on CubeOrange, Nora (all H7?) ([issues](https://github.com/ArduPilot/ardupilot/issues/20778)) -- hardware issue - [x] Circle mode should stop at fence ([issue](https://github.com/ArduPilot/ardupilot/issues/20939), [PR](https://github.com/ArduPilot/ardupilot/pull/20964)) -- resolved for 4.2.2-rc1 - [x] OSD not showing latest modes ([PR](https://github.com/ArduPilot/ardupilot/pull/20811)) -- resolved for 4.2.1-rc2 - [x] precision landing yawing during descent when tag lost ([discussion](https://discuss.ardupilot.org/t/fixed-yaw-precision-landing/85618/2), [PR](https://github.com/ArduPilot/ardupilot/pull/20801)) -- resolved for 4.2.1 - [x] Matek H743 has 4 IMUs so INS_ENABLE_MASK needs an extra bit? ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-rc3-released-for-beta-testing/85121), [PR](https://github.com/ArduPilot/ardupilot/pull/20793)) -- resolved for 4.2.1 - [x] CHUTE_ENABLE somehow set to zero (RC switch?) ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-rc4-available-for-beta-testing/85556/8), [issue](https://github.com/ArduPilot/ardupilot/issues/20788)) -- present in 4.1.x as well - [x] TradHeli internal error from Guided mode ([discussion](https://discuss.ardupilot.org/t/heli-frame-prearm-internal-error-0x100000-l-602-flow-of-ctr/85172), [PR](https://github.com/ArduPilot/ardupilot/pull/20742)) -- resolved for -rc4 - [x] ATC_SLEW_YAW affects yaw speed in Loiter ([issue](https://github.com/ArduPilot/ardupilot/issues/20608), [PR](https://github.com/ArduPilot/ardupilot/pull/20758)) -- resolved for -rc4 - [x] AP_Button's internal error when using PWM input ([issue](https://github.com/ArduPilot/ardupilot/issues/20609)) -- maybe caused by servo tester used during testing -- not a real problem - [x] Chimera EKF issues after acro flight (worse in -rc1 than -beta3). AndyPiper has logs ([PR](https://github.com/ArduPilot/ardupilot/pull/20684), [related PR](https://github.com/ArduPilot/ardupilot/pull/20431)) -- resolved in -rc3 - [x] MatekF765-Wing-bdshot requested ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623/12)) -- included in -rc2 - [x] BLHeli_S not working and "all zeros" watchdog ([discussion](https://discuss.ardupilot.org/t/spontaneous-crash-possible-problem-in-4-2bdshot-daily-build-from-feb-22/83297/16), [zeroWD issue](https://github.com/ArduPilot/ardupilot/issues/20092)) -- resolved for -rc2 (we think) - [x] User struggles setting up wheel encoders, camera triggers, brushed-motors-with-relays due to BRD_PWM_COUNT removal ([Rover discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623/17), [Copter discussion](https://discuss.ardupilot.org/t/brd-pwm-count-mentioned-in-wiki-but-not-in-parameters-or-in-parameter-list-doc/84155), [Plane issue](https://github.com/ArduPilot/ardupilot/issues/20567), [PR](https://github.com/ArduPilot/ardupilot/pull/20576)) -- resolved for -rc2 - [x] MP param download 30+ seconds on Randy's CubeOrange after CAN_P1_DRIVER = 1 or BTN_ENABLE = 1 ([issue](https://github.com/ArduPilot/ardupilot/issues/20582)) -- resolved in Beta MP (build 1.3.8150.28411 or higher) - [x] Vision Position Estimates treated as offsets from internal origin ([issue](https://github.com/ArduPilot/ardupilot/issues/20585)) -- working correctly - [x] compass learn testing ([discussion](https://discuss.ardupilot.org/t/lane-switch-on-compass-learn-3-flight/84223), [discussion2](https://discuss.ardupilot.org/t/test-results-of-compass-learn-3/84177)) -- FYI only - [x] DO_SET_SERVO does not work on Servo9 ~ 14 on CubeOrange ([discussion](https://discuss.ardupilot.org/t/no-pwm-servo-aux-out-1-movement-on-cube-orange/84325/2), [PR](https://github.com/ArduPilot/ardupilot/pull/20584), [PR](https://github.com/ArduPilot/ardupilot/pull/20577)) -- resolved for -rc2 - [x] RPM spams console until gpio PIN parameter is set ([issue](https://github.com/ArduPilot/ardupilot/issues/20575), [PR](https://github.com/ArduPilot/ardupilot/pull/20579)) -- resolved for -rc2 - [x] Linux crash due to UART or scheduler change? ([issue](https://github.com/ArduPilot/ardupilot/issues/20519), [PR](https://github.com/ArduPilot/ardupilot/pull/20540)) -- resolved for -rc2 - [x] Tradheli autotune not properly exiting rate P/rate D tuning when max allowed gains are not determined ([PR](https://github.com/ArduPilot/ardupilot/pull/20447)) -- resolved for -rc2 - [x] SYSID FF fix ([PR](https://github.com/ArduPilot/ardupilot/pull/20466)) -- resolved for -rc2 - [x] Rover watchdog reset on MatekH743-Mini-bdshot ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623)) -- probably resolved in -rc1 - [x] Balance bot not standing for user with brushed motors ([discussion](https://discuss.ardupilot.org/t/rover-4-2-0-beta3-released-for-beta-testing/83623/7)) -- needed to set SERVOx_FUNCTION = -1 (need better docs?) - [x] Bi-directional dshot doesn't work on Rover ([PR](https://github.com/ArduPilot/ardupilot/pull/20374)) -- fixed in beta3 - [x] landing not slowing at LAND_ALT_LOW (Randy and PeterHall have logs) -- fixed in beta3 - [x] WP_SPEED from Ch6 tuning not working? ([discussion](https://discuss.ardupilot.org/t/wpnav-speed-as-a-chan-6-tune-parameter-working/83217)) -- vehicle config issue, works. - [x] DSHOT reverse range is inverted (4.2 issue. see [issue](https://github.com/ArduPilot/ardupilot/issues/19346), [PR1](https://github.com/ArduPilot/ardupilot/pull/20349), [PR2](https://github.com/ArduPilot/ardupilot/pull/20358)) -- resolved for beta3 - [x] BLHeli passthrough not working on CubeOrange's AUX1 ([issue](https://github.com/ArduPilot/ardupilot/issues/20362)) -- but is likely a hardware issue - [x] MinimOSD not working? ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta2-released/82959), [Wiki PR](https://github.com/ArduPilot/ardupilot_wiki/pull/4231)) -- user needs to set SERIALx_PROTOCOL = 1 - [x] BalanceBot does not stand-up in Acro mode ([discussion](https://discuss.ardupilot.org/t/rover-4-1-3-rc1-released-for-beta-testing/79751/3)) -- resolved in beta3 - [x] takeoff stuck if alt-above-home is lower than alt-above-terrain ([comment](https://github.com/ArduPilot/ardupilot/commit/fb6c3ebb729a4b428da5dd14832cd95d71709a1e#commitcomment-68370961), [issue](https://github.com/ArduPilot/ardupilot/issues/20277), [PR](https://github.com/ArduPilot/ardupilot/pull/20153), [PR2](https://github.com/ArduPilot/ardupilot/pull/20285)) -- fixed in beta2 (the problem was only ever present in master, never made it to a beta) - [x] GPS-for-yaw with DroneCan GPS not working ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/6), [PR](https://github.com/ArduPilot/ardupilot/pull/20249)) -- resolved in -beta2 - [x] DShot esc issue ([discussion](https://discuss.ardupilot.org/t/copter-4-2-0-beta1-available-for-beta-testing/82460/8), [PR](https://github.com/ArduPilot/ardupilot/pull/20247)) -- resolved in beta2

GSOC

CraigElder · August 3, 2022, 4:47am

Attendee count (max): 24

Pre-agenda:

Issues with terrain
- Defaults changed in MAVProxy
  - Being fixed
Network issues?
Changes to srtm database server?
Peter’s PR to cache in autotest directory should fix

UTC11100 - Hazard: Z offset due to gravimetric model EGM96 and solution to this altitude shift · Issue #4480 · ArduPilot/ardupilot_wiki · GitHub

We assume AMSL everywhere
If you need the egm96 model everything goes wrong (remoteid requires it)
Srtm is NOT wgs84
- We use AMSL set
We don’t measure altitude using gravity?!

UTC11120 - Support VTOL_LAND options by WickedShell · Pull Request #14874 · ArduPilot/ardupilot · GitHub

VTOL_LAND options
Circle or straight-in to land
Mavlink submodule issue?
Soaring changes need to be removed

UTC1126 - hwdef: KakuteH7 bluetooth switch by chobitsfan · Pull Request #20419 · ArduPilot/ardupilot · GitHub

KakuteH7 Bluetooth switch
Mergeoncipass

UTC1126 - AP_RangeFinder: Add TeraRanger Neo Rangefinder by Hwurzburg · Pull Request #20983 · ArduPilot/ardupilot · GitHub

Teraranger neo
Henry will flight-test then we’ll merge this

UTC1130 - Airspeed Sensor Failure Handling Improvements by priseborough · Pull Request #21040 · ArduPilot/ardupilot · GitHub

Airspeed sensor failure handling improvements
Need airspeed-blockage-on-a-switch?
Tridge still wants to do the median stream
Labelled NeedsTesting

UTC1135 - Add RockBlock SBD satellite modem support by stephendade · Pull Request #21068 · ArduPilot/ardupilot · GitHub

Add RockBlock SBD satellite modem
Mavlink telem via RockBlock
2.6kB of flash is a lot
Why is mavlink involved?
- Why isn’t it just bytes?
- Not a transparent serial port
- Specific mavlink handling?
- LUA script to take bytes and wrap AT commands around it?
- Why does the script need to know about mavlink at all?
- Intercept at serial port layer
- Or a queue of messages to pass into LUA?
  - [9:43 AM] Peter Hall: less specialised in the c++ anyway. You can go crazy in the script
  - [9:45 AM] Peter Hall: Virtual serial would be useful.
  - [9:45 AM] Peter Hall: For NMEA for example.
  - [9:45 AM] Buzz: something like ?
  - uartX->pre_send(“AT xxxx”)
  - …
  - uartX->post_send(“AT xxxx”)
  - [9:45 AM] Charlie Johnson: CAN node more serial devices?
- Need to tightly control sending data to/from modem
- Like locking of serial ports for passthrough?
- Stephen only wants to send the high-latency messages
- Lua script could look at header bytes and discard
- LUA script to be able to handle the uart buffer
- [9:51 AM] Peter Hall: This sounds more complex than just implementing the MAVLink in lua…
- [9:51 AM] Peter Hall: for this use case anyway.
- [9:52 AM] Buzz: id suggest just accepting htis, and tridge’s suggestion can be for the next version.?
- There’s a pymavlink LUA backend
  - So regenerate the message in UTC1135 - Add RockBlock SBD satellite modem support by stephendade · Pull Request #21068 · ArduPilot/ardupilot · GitHub
  - So generate the message entirely in LUA
9:55 AM] Peter Barker: I wonder what else we could use that other “virtual uart” thingy for… where ArduPilot’s output for a uart can be read by a LUA script…
[9:57 AM] Buzz: @Peter Barker - it hypothetically could do arbitary mavlink-to-X lua scripts. eg mavlink-to-CSRF or mavlink-to-MSP or something, which would be nice.

UTC1155 - AP_Gripper: Servo Gipper enhancments by lthall · Pull Request #21130 · ArduPilot/ardupilot · GitHub

Gripper enhancements
At boot will go to trim setting
State machine needs a bit of a look at
- PH to re-review

UTC1158 - Copter: fix take-off velocity limits by lthall · Pull Request #21131 · ArduPilot/ardupilot · GitHub

Adds limit to a velocity
Very self-contained
Leonard needs help proof-reading the comments

UTC0006 - HAL_ChibiOS: hwdef: add README.md for PixSurveyA1 by mfe-xiao · Pull Request #21211 · ArduPilot/ardupilot · GitHub

README.md for PixSurveyA1
Henry will squash and merge

UTC0007 - Support ICM42670 on Pixhawk6X by tridge · Pull Request #21233 · ArduPilot/ardupilot · GitHub

Pixhawk6x, holybro6x and icm42670
Compass compensation generalization
42688 filtering enabled and much better light performance
Disable i2c DMA on H7
- Good for boards short on DMA channels
Will be backported

UTC0007 - Add AUX switch to pause logging of streaming log messages by Hwurzburg · Pull Request #21269 · ArduPilot/ardupilot · GitHub

Log-pause on-a-switch
merged!

UTC0015 - NavEKF3: Option to disable logging of EKF log messages by Hwurzburg · Pull Request #21276 · ArduPilot/ardupilot · GitHub

Disable logging of EKF3 log messages
Enumeration giving a log level
XKF4_GSF gives normalised innovations and the GSF
XKF4 for just innovations
Could cut down on the GSF logging too
- Don’t need things at max rate
merged!

UTC0021 - AP_Logger: add increment metadata to allow <1Hz logging by Hwurzburg · Pull Request #21279 · ArduPilot/ardupilot · GitHub

Allow <1Hz logging in documentation
Merged!

UTC0023 - Change logging to be designated as streaming by Hwurzburg · Pull Request #21283 · ArduPilot/ardupilot · GitHub

LAND is marked streaming
merged!

UTC0023 - Guided Mode support MAV_CMD_DO_CHANGE_SPEED by lthall · Pull Request #21286 · ArduPilot/ardupilot · GitHub

DO_CHANGE_SPEED in guided mode
Stops speeds being changed in wrong mode
Merged!

UTC0027 - Plane: Quadplane: add option to refuse change to FW mode at low altitude by IamPete1 · Pull Request #21289 · ArduPilot/ardupilot · GitHub

Refuse FW mode at low altitudes
Quadplane landing aborts will no longer work properly
- The phases of landing might still allow it?
QRTL → RTL would be broken ATM
Should be restricted to just pilot-commanded changes?
Assumption of ground → takeoff location is bad?
Terrain-relative fence heights would be good
Plenty of ways to kill vehicles with switches….
This is optional
Refuse mode change or to a qland?
Is this a failsafe action?
- Most failsafes are qland?
Proper interlocks on the controllers instead?
- They may not be capable
Leonard thinks second-guessing the pilot is appropriate here from a manufacturer’s perspective
This is optional
Gating on launch/recovery zone
- Rtl radius?
- Special radius?
Parameter to set launch/recovery radius
Height-above-terrain it triggers at?
PH will go away and have another think about this

UTC0046 - AP_LandingGear: SITL: only set defualts is SITL pin is set avoiding enable via param conversion by IamPete1 · Pull Request #21292 · ArduPilot/ardupilot · GitHub

Param conversion / landing gear always enabled
Merged

UTC0048 - SITL: SIM_Buzzer: hide params if not WITH_SITL_TONEALARM by IamPete1 · Pull Request #21293 · ArduPilot/ardupilot · GitHub

Hide parameters if sitl tonealarm not set
Set defaults needs to be called
Had parameters but not code

UTC0049 - Plane: fix attitude logging logic and rates by Hwurzburg · Pull Request #21301 · ArduPilot/ardupilot · GitHub

Fix attitude logging logic
Rates were all wrong
No longer get IMU messages
Doesn’t change default behaviour
Merged!

UTC0052 - Plane: stable 4.2.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Plane update
- 4.2.3beta PR
  - VTOL landing issues fixed
  - Overshoot bug fixed
  - UGCS ground station bug creates many waypoints as if you’d triple-clicked
    - Disastrous for landing code
    - We’ve added an arming check to try to catch this
    - If you do overshoot it handles it more gracefully
  - Airbrake tecs commanding speedup is bad
    - Also fixed
    - Approach speed, not based on distance
      - Can actually ask for speed above cruise speed
  - Turning into a large release
  - 52 patches so far
  - Pixhawk6 is the bug stuff
  - But VTOL landings too
- Tridge would like feedback on the patchset….
- Very close on flash space
4.3 should start beta very soon
- Randy’s on holidays
- So start early next week?
- If we don’t do another Copter beta we won’t get Pixhawk6 support until 4.3 is out

UTC0102 - Plane: stable 4.2.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

Copter update
No Randy
One height/takeoff issue
- Land problem in auto mode - #9 by Leonardthall

UTC0103 - AP_TECS: fix broken logging bitmask enable by Hwurzburg · Pull Request #21302 · ArduPilot/ardupilot · GitHub

Fix TECS logging bitmask enable
Will be merged…

UTC0106 - Plane: change CURRENT to BATT_MON in log bitmask metadata by Hwurzburg · Pull Request #21305 · ArduPilot/ardupilot · GitHub

Naming change from current to BATT_MON
Sonar is next on agenda

UTC0109 - Fix bootloader flash storage by andyp1per · Pull Request #21308 · ArduPilot/ardupilot · GitHub

Flash storage
Tridge will test

UTC0112 - autotest: Create a features.json (like manifest.json) from extract_features.py output by peterbarker · Pull Request #21315 · ArduPilot/ardupilot · GitHub

Create a features.json
If we update extract_features.json
- All existing binaries
Keep the elf around instead
Separate script?

UTC0122 - EKF messages have out-of-order timestamps · Issue #21316 · ArduPilot/ardupilot · GitHub

TimUS can be out-of-order
Suck it up for the time bein
- Tools need to be able to cope

UTC0123 - Plane: improve target airspeed in landing approach by tridge · Pull Request #21317 · ArduPilot/ardupilot · GitHub

Plane improve target airspeed in landing approach
Merged

UTC0123 - Tools: added build features list to extract_features.py by Hwurzburg · Pull Request #21320 · ArduPilot/ardupilot · GitHub

Added build features list to extract_features.py
Henry’s breaking out functions
Peter will change things to use regexes to generate the symbols to look for
Included features/excludes features html pages
stable/master versions
Need generators for html

UTC0125 - Tools: FilterTool: add support for PIDs and other updates. by IamPete1 · Pull Request #21322 · ArduPilot/ardupilot · GitHub

Add support for PIDs and other updates
Time or frequency
RPM - assumes single-bladed prop
- Just scaling on Hz
Tridge will test

UTC0125 - autotest: Cache terrain data within autotest directory by peterbarker · Pull Request #21323 · ArduPilot/ardupilot · GitHub

Mp_elevation depends on srtm and srtm depends on
Stores data in ardupilot tree
Maybe populate tilecache just on VMs?
Copy over tilecache?

Attendee count (max): 24

Pre-agenda:

UTC11100 - Hazard: Z offset due to gravimetric model EGM96 and solution to this altitude shift · Issue #4480 · ArduPilot/ardupilot_wiki · GitHub

UTC11120 - Support VTOL_LAND options by WickedShell · Pull Request #14874 · ArduPilot/ardupilot · GitHub

UTC1126 - hwdef: KakuteH7 bluetooth switch by chobitsfan · Pull Request #20419 · ArduPilot/ardupilot · GitHub

UTC1126 - AP_RangeFinder: Add TeraRanger Neo Rangefinder by Hwurzburg · Pull Request #20983 · ArduPilot/ardupilot · GitHub

UTC1130 - Airspeed Sensor Failure Handling Improvements by priseborough · Pull Request #21040 · ArduPilot/ardupilot · GitHub

UTC1135 - Add RockBlock SBD satellite modem support by stephendade · Pull Request #21068 · ArduPilot/ardupilot · GitHub

UTC1155 - AP_Gripper: Servo Gipper enhancments by lthall · Pull Request #21130 · ArduPilot/ardupilot · GitHub

UTC1158 - Copter: fix take-off velocity limits by lthall · Pull Request #21131 · ArduPilot/ardupilot · GitHub

UTC0006 - HAL_ChibiOS: hwdef: add README.md for PixSurveyA1 by mfe-xiao · Pull Request #21211 · ArduPilot/ardupilot · GitHub

UTC0007 - Support ICM42670 on Pixhawk6X by tridge · Pull Request #21233 · ArduPilot/ardupilot · GitHub

UTC0007 - Add AUX switch to pause logging of streaming log messages by Hwurzburg · Pull Request #21269 · ArduPilot/ardupilot · GitHub

UTC0015 - NavEKF3: Option to disable logging of EKF log messages by Hwurzburg · Pull Request #21276 · ArduPilot/ardupilot · GitHub

UTC0021 - AP_Logger: add increment metadata to allow <1Hz logging by Hwurzburg · Pull Request #21279 · ArduPilot/ardupilot · GitHub

UTC0023 - Change logging to be designated as streaming by Hwurzburg · Pull Request #21283 · ArduPilot/ardupilot · GitHub

UTC0023 - Guided Mode support MAV_CMD_DO_CHANGE_SPEED by lthall · Pull Request #21286 · ArduPilot/ardupilot · GitHub

UTC0027 - Plane: Quadplane: add option to refuse change to FW mode at low altitude by IamPete1 · Pull Request #21289 · ArduPilot/ardupilot · GitHub

UTC0046 - AP_LandingGear: SITL: only set defualts is SITL pin is set avoiding enable via param conversion by IamPete1 · Pull Request #21292 · ArduPilot/ardupilot · GitHub

UTC0048 - SITL: SIM_Buzzer: hide params if not WITH_SITL_TONEALARM by IamPete1 · Pull Request #21293 · ArduPilot/ardupilot · GitHub

UTC0049 - Plane: fix attitude logging logic and rates by Hwurzburg · Pull Request #21301 · ArduPilot/ardupilot · GitHub

UTC0052 - Plane: stable 4.2.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0102 - Plane: stable 4.2.x issues list · Issue #15941 · ArduPilot/ardupilot · GitHub

UTC0103 - AP_TECS: fix broken logging bitmask enable by Hwurzburg · Pull Request #21302 · ArduPilot/ardupilot · GitHub

UTC0106 - Plane: change CURRENT to BATT_MON in log bitmask metadata by Hwurzburg · Pull Request #21305 · ArduPilot/ardupilot · GitHub

UTC0109 - Fix bootloader flash storage by andyp1per · Pull Request #21308 · ArduPilot/ardupilot · GitHub

UTC0112 - autotest: Create a features.json (like manifest.json) from extract_features.py output by peterbarker · Pull Request #21315 · ArduPilot/ardupilot · GitHub

UTC0122 - EKF messages have out-of-order timestamps · Issue #21316 · ArduPilot/ardupilot · GitHub

UTC0123 - Plane: improve target airspeed in landing approach by tridge · Pull Request #21317 · ArduPilot/ardupilot · GitHub

UTC0123 - Tools: added build features list to extract_features.py by Hwurzburg · Pull Request #21320 · ArduPilot/ardupilot · GitHub

UTC0125 - Tools: FilterTool: add support for PIDs and other updates. by IamPete1 · Pull Request #21322 · ArduPilot/ardupilot · GitHub

UTC0125 - autotest: Cache terrain data within autotest directory by peterbarker · Pull Request #21323 · ArduPilot/ardupilot · GitHub

UTC0202 - close